Kinematics analysis and simulation of bionic five-finger manipulator

Abstract To address the complexity of traditional manipulator structures, a bionic five-finger manipulator has been designed and developed. After introducing the manipulator’s structure and functionality, the kinematic model was established using the D-H parameter method, followed by the analysis of forward and inverse kinematics. The fingertip pose was derived using the homogeneous transformation formula, and the accuracy of the theoretical analysis was validated by comparing the mathematical and MATLAB simulation results. The Monte Carlo method was employed to determine the accessible motion space of the mechanical fingertip. Subsequently, trajectory planning for the manipulator was performed based on known initial and end finger angles. A comparison with ADAMS simulation results demonstrated the rationality of the mechanical finger’s movement space, stable speed, and compliance with actual grasping requirements. This study lays a theoretical foundation for the subsequent parameter optimization of the manipulator.